Abstract: A scale estimating method through metric reconstruction of objects using a smart device is disclosed, in which the smart device is equipped with a camera for image capture and an inertial measurement unit (IMU). The scale estimating method is adapting a batch, vision-centric approach only using IMU to estimate the metric scale of a scene reconstructed by algorithm with Structure from Motion like (SfM) output. Monocular vision and noisy IMU can be integrated with the disclosed scale estimating method, in which a 3D structure of an object of interest up to an ambiguity in scale and reference frame can be resolved. Gravity data and a real-time heuristic algorithm for determining sufficiency of video data collection are utilized for improving upon scale estimation accuracy so as to be independent of device and operating system. Application of the scale estimation includes determining pupil distance and 3D reconstruction using video images.

Abstract: A scale estimating method through metric reconstruction of objects using a smart device is disclosed, in which the smart device is equipped with a camera for image capture and an inertial measurement unit (IMU). The scale estimating method is adapting a batch, vision-centric approach only using IMU to estimate the metric scale of a scene reconstructed by algorithm with Structure from Motion like (SfM) output. Monocular vision and noisy IMU can be integrated with the disclosed scale estimating method, in which a 3D structure of an object of interest up to an ambiguity in scale and reference frame can be resolved. Gravity data and a real-time heuristic algorithm for determining sufficiency of video data collection are utilized for improving upon scale estimation accuracy so as to be independent of device and operating system. Application of the scale estimation includes determining pupil distance and 3D reconstruction using video images.